#pragma once
#include <cuda_runtime.h>

#include <cstdint>

#ifdef __cplusplus
extern "C" {
#endif

void calc_esdf_map_launcher(cudaStream_t* stream,
                            int map_row_size,
                            int map_col_size,
                            float resolution,
                            uint8_t* occupancy_buffer_inflate,
                            float* tmp_buffer,
                            float* distance_buffer,
                            int* obs_index_data,
                            int* obs_start_index_data);

#ifdef __cplusplus
}
#endif
